自主式水下航行器的建模与自适应滑模控制

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1、西北工业大学硕士论文人BSTRACTABSTRACTThecontinualdevelopmentofcomputertechnologyhasenabledtheexpansionofadvancedcontrolintothefieldofautonomousunderwatervehicles(AUVs),wherepotentialusesincludeoceanographicresearch,environmentalmonitoringandmilitaryminecountermeasures.Inthisdissertation,throughcompu

2、tersimulation,theproblemsofmodeling,controlandguidanceofAUVsarepresented.ThefirstpartofthisdissertationaddressestheproblemofdynamicallymodelingofAUVs,andderivesthrusters'two-dimensionnonlineardynamicmodel,whichhasaxialflowspeedandpropellerrotationalvelocityastwostatevariables,voltageorcur

3、rentofmotorasinputs,andthrusterforceandtorqueasoutput.ThesecondpartfocusesonthenonlinearadaptiveslidingmodecontrolofAUVsindivingplaneandsteeringplane.Therequirementforhavingasimplecontrollerwhichperformssatisfactorilyinthepresenceofdynamicaluncertaintiescallsforadesignusingtheslidingmodea

4、pproach.Inthiscontroller,onlineparametersestimatingalgorithmisaddedtoclassicalslidingmodecontrollertoachievebothrobustnessandadaptability,topreventnoiseanddisturbancesfromcausingparameterdrill,adead-zoneisaddedtoshutadaptationoffforsmalltrackingerrors,andtheadaptationlawismodifiedtoguaran

5、teetheestimatedparametersinpreviouslyknownranges.Thethirdpartisdevotedtotheproblemofspeed/position'strackingcontrolusingslidingmodecontrolapproach.Acascadedarchitectureisadopted,wheredesiredpropellerrateofrevolutionisgeneratedbysolvingastatic2ndorderequationwithaparameterofdesiredthrustfo

6、rce,whichistheinputofthespeed/positiontrackingcontrolInthelastpart,depthschedulestrategybasedonfuzzyinferencesystem(FIS),andline-of-sightguidanceinhorizontalplaneinthepresenceofunknowncurrentarestudied.Keywordsunderwatervehicledynamicmodelofthrusteradaptiveslidingmodecontrolspeed/position

7、trackingcontroldepthschedulingstrategyfuzzyinferencesystemunknowncurrentdisturbanceline-of-sightguidance西北T业大学硕士论文第一章绪论第一章绪论1.1水下航行器简介二十一世纪是人类向海洋进军的世纪。作为探索海洋的重要手段，甚至在某些情况下是唯一的手段，水下航行器(又称水下机器人)在开发利用海洋中的作用并不亚于火箭和航天飞机在探索宇宙空间中的作用。按照封锡盛(41的定义，水下航行器是一种“可在水下移动、具有视觉和感知系统、通过